Force distribution of a six-legged walking robot with high constant speed

Kwang Suk Jung, Yoon Su Baek

Research output: Contribution to journalArticle

3 Citations (Scopus)

Abstract

For a walking robot with high constant body speed, the dynamic effects of the legs on the transfer phase are dominant compared with other factors. This paper presents a new force distribution algorithm to maximize walkable terrain without slipping considering the dynamic effects of the legs on the transfer phase. Maximizing the walkable terrain means having the capability of walking on more slippery ground under the same constraint, namely constant body speed. A simple force distribution algorithm applied to the proposed walking model with a pantograph leg shows an improvement in the capability of preventing foot-slippage compared with one using a pseudo-inverse method.

Original languageEnglish
Pages (from-to)131-140
Number of pages10
JournalKSME International Journal
Volume14
Issue number2
DOIs
Publication statusPublished - 2000 Feb

All Science Journal Classification (ASJC) codes

  • Mechanical Engineering

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